OpenRaiser/Intern-Atlas huggingface dataset:
Goal-Based Vision-Language Driving
Venue: arXiv cs.CV 2025
Year: 2025

Autonomous vehicles must react in milliseconds while reasoning about road geometry and traffic intent to navigate complex situations. We introduce NovaDrive, a single-branch vision-language architecture that processes front-camera images, HD-map tiles, LiDAR depth, and textual waypoints in a single branch. A lightweight, two-stage cross-attention block first aligns waypoint tokens with the HD map, then refines attention over fine-grained image and depth patches. Coupled with a novel smoothness loss that discourages abrupt steering and speed changes, this design eliminates the need for recurrent memory. We fine-tune the top 15 layers of an 11B LLaMA-3.2 vision-language backbone, enabling real-time inference. On the nuScenes / Waymo subset of the MD-NEX Outdoor benchmark, NovaDrive raises success rate to 84% (+4%), boosts path-efficiency (SPL) to 0.66 (+0.11), and reduces collision frequency from 2.6% to 1.2% (-1.4%) relative to the previous state-of-the-art. Our ablations confirm that waypoint tokens, partial VLM fine-tuning, and the cross-attention fusion each contribute the most to these gains. Beyond safety, NovaDrive's shorter routes (resulting from the novel smoothness loss) translate to lower fuel or battery usage, pointing toward leaner, more easily updated driving stacks. NovaDrive can be extended to other embodied-AI domains as well.
Prediction of Significant Creatinine Elevation in First ICU Stays with Vancomycin Use: A retrospective study through Catboost
Venue: arXiv cs.LG 2025
Year: 2025

Background: Vancomycin, a key antibiotic for severe Gram-positive infections in ICUs, poses a high nephrotoxicity risk. Early prediction of kidney injury in critically ill patients is challenging. This study aimed to develop a machine learning model to predict vancomycin-related creatinine elevation using routine ICU data. Methods: We analyzed 10,288 ICU patients (aged 18-80) from the MIMIC-IV database who received vancomycin. Kidney injury was defined by KDIGO criteria (creatinine rise >=0.3 mg/dL within 48h or >=50% within 7d). Features were selected via SelectKBest (top 30) and Random Forest ranking (final 15). Six algorithms were tested with 5-fold cross-validation. Interpretability was evaluated using SHAP, Accumulated Local Effects (ALE), and Bayesian posterior sampling. Results: Of 10,288 patients, 2,903 (28.2%) developed creatinine elevation. CatBoost performed best (AUROC 0.818 [95% CI: 0.801-0.834], sensitivity 0.800, specificity 0.681, negative predictive value 0.900). Key predictors were phosphate, total bilirubin, magnesium, Charlson index, and APSIII. SHAP confirmed phosphate as a major risk factor. ALE showed dose-response patterns. Bayesian analysis estimated mean risk 60.5% (95% credible interval: 16.8-89.4%) in high-risk cases. Conclusions: This machine learning model predicts vancomycin-associated creatinine elevation from routine ICU data with strong accuracy and interpretability, enabling early risk detection and supporting timely interventions in critical care.
Math Natural Language Inference: this should be easy!
Venue: arXiv cs.CL 2025
Year: 2025

We ask whether contemporary LLMs are able to perform natural language inference (NLI) tasks on mathematical texts. We call this the Math NLI problem. We construct a corpus of Math NLI pairs whose premises are from extant mathematical text and whose hypotheses and gold labels were provided by people with experience in both research-level mathematics and also in the NLI field. We also investigate the quality of corpora using the same premises but whose hypotheses are provided by LLMs themselves. We not only investigate the performance but also the inter-group consistency of the diverse group of LLMs. We have both positive and negative findings. Among our positive findings: in some settings, using a majority vote of LLMs is approximately equivalent to using human-labeled data in the Math NLI area. On the negative side: LLMs still struggle with mathematical language. They occasionally fail at even basic inferences. Current models are not as prone to hypothesis-only "inference" in our data the way the previous generation had been. In addition to our findings, we also provide our corpora as data to support future work on Math NLI.
A Foundation Model for Material Fracture Prediction
Venue: arXiv cs.LG 2025
Year: 2025

Accurately predicting when and how materials fail is critical to designing safe, reliable structures, mechanical systems, and engineered components that operate under stress. Yet, fracture behavior remains difficult to model across the diversity of materials, geometries, and loading conditions in real-world applications. While machine learning (ML) methods show promise, most models are trained on narrow datasets, lack robustness, and struggle to generalize. Meanwhile, physics-based simulators offer high-fidelity predictions but are fragmented across specialized methods and require substantial high-performance computing resources to explore the input space. To address these limitations, we present a data-driven foundation model for fracture prediction, a transformer-based architecture that operates across simulators, a wide range of materials (including plastic-bonded explosives, steel, aluminum, shale, and tungsten), and diverse loading conditions. The model supports both structured and unstructured meshes, combining them with large language model embeddings of textual input decks specifying material properties, boundary conditions, and solver settings. This multimodal input design enables flexible adaptation across simulation scenarios without changes to the model architecture. The trained model can be fine-tuned with minimal data on diverse downstream tasks, including time-to-failure estimation, modeling fracture evolution, and adapting to combined finite-discrete element method simulations. It also generalizes to unseen materials such as titanium and concrete, requiring as few as a single sample, dramatically reducing data needs compared to standard ML. Our results show that fracture prediction can be unified under a single model architecture, offering a scalable, extensible alternative to simulator-specific workflows.
Scalable Generative Modeling of Weighted Graphs
Venue: arXiv cs.LG 2025
Year: 2025

Weighted graphs are ubiquitous throughout biology, chemistry, and the social sciences, motivating the development of generative models for abstract weighted graph data using deep neural networks. However, most current deep generative models are either designed for unweighted graphs and are not easily extended to weighted topologies or incorporate edge weights without consideration of a joint distribution with topology. Furthermore, learning a distribution over weighted graphs must account for complex nonlocal dependencies between both the edges of the graph and corresponding weights of each edge. We develop an autoregressive model BiGG-E, a nontrivial extension of the BiGG model, that learns a joint distribution over weighted graphs while still exploiting sparsity to generate a weighted graph with $n$ nodes and $m$ edges in $O((n + m)\log n)$ time. Simulation studies and experiments on a variety of benchmark datasets demonstrate that BiGG-E best captures distributions over weighted graphs while remaining scalable and computationally efficient.
FLOSS: Federated Learning with Opt-Out and Straggler Support
Venue: arXiv cs.LG 2025
Year: 2025

Previous work on data privacy in federated learning systems focuses on privacy-preserving operations for data from users who have agreed to share their data for training. However, modern data privacy agreements also empower users to use the system while opting out of sharing their data as desired. When combined with stragglers that arise from heterogeneous device capabilities, the result is missing data from a variety of sources that introduces bias and degrades model performance. In this paper, we present FLOSS, a system that mitigates the impacts of such missing data on federated learning in the presence of stragglers and user opt-out, and empirically demonstrate its performance in simulations.
AI paradigm for solving differential equations: first-principles data generation and scale-dilation operator AI solver
Venue: arXiv cs.LG 2025
Year: 2025

Many problems are governed by differential equations (DEs). Artificial intelligence (AI) is a new path for solving DEs. However, data is very scarce and existing AI solvers struggle with approximation of high frequency components (AHFC). We propose an AI paradigm for solving diverse DEs, including DE-ruled first-principles data generation methodology and scale-dilation operator (SDO) AI solver. Using either prior knowledge or random fields, we generate solutions and then substitute them into the DEs to derive the sources and initial/boundary conditions through balancing DEs, thus producing arbitrarily vast amount of, first-principles-consistent training datasets at extremely low computational cost. We introduce a reversible SDO that leverages the Fourier transform of the multiscale solutions to fix AHFC, and design a spatiotemporally coupled, attention-based Transformer AI solver of DEs with SDO. An upper bound on the Hessian condition number of the loss function is proven to be proportional to the squared 2-norm of the solution gradient, revealing that SDO yields a smoother loss landscape, consequently fixing AHFC with efficient training. Extensive tests on diverse DEs demonstrate that our AI paradigm achieves consistently superior accuracy over state-of-the-art methods. This work makes AI solver of DEs to be truly usable in broad nature and engineering fields.
Argumentatively Coherent Judgmental Forecasting
Venue: arXiv cs.AI 2025
Year: 2025

Judgmental forecasting employs human opinions to make predictions about future events, rather than exclusively historical data as in quantitative forecasting. When these opinions form an argumentative structure around forecasts, it is useful to study the properties of the forecasts from an argumentative perspective. In this paper, we advocate and formally define a property of argumentative coherence, which, in essence, requires that a forecaster's reasoning is coherent with their forecast. We then conduct three evaluations with our notion of coherence. First, we assess the impact of enforcing coherence on human forecasters as well as on Large Language Model (LLM)-based forecasters, given that they have recently shown to be competitive with human forecasters. In both cases, we show that filtering out incoherent predictions improves forecasting accuracy consistently, supporting the practical value of coherence in both human and LLM-based forecasting. Then, via crowd-sourced user experiments, we show that, despite its apparent intuitiveness and usefulness, users do not generally align with this coherence property. This points to the need to integrate, within argumentation-based judgmental forecasting, mechanisms to filter out incoherent opinions before obtaining group forecasting predictions.
Benchmarking Massively Parallelized Multi-Task Reinforcement Learning for Robotics Tasks
Venue: arXiv cs.RO 2025
Year: 2025

Multi-task Reinforcement Learning (MTRL) has emerged as a critical training paradigm for applying reinforcement learning (RL) to a set of complex real-world robotic tasks, which demands a generalizable and robust policy. At the same time, \emph{massively parallelized training} has gained popularity, not only for significantly accelerating data collection through GPU-accelerated simulation but also for enabling diverse data collection across multiple tasks by simulating heterogeneous scenes in parallel. However, existing MTRL research has largely been limited to off-policy methods like SAC in the low-parallelization regime. MTRL could capitalize on the higher asymptotic performance of on-policy algorithms, whose batches require data from the current policy, and as a result, take advantage of massive parallelization offered by GPU-accelerated simulation. To bridge this gap, we introduce a massively parallelized $\textbf{M}$ulti-$\textbf{T}$ask $\textbf{Bench}$mark for robotics (MTBench), an open-sourced benchmark featuring a broad distribution of 50 manipulation tasks and 20 locomotion tasks, implemented using the GPU-accelerated simulator IsaacGym. MTBench also includes four base RL algorithms combined with seven state-of-the-art MTRL algorithms and architectures, providing a unified framework for evaluating their performance. Our extensive experiments highlight the superior speed of evaluating MTRL approaches using MTBench, while also uncovering unique challenges that arise from combining massive parallelism with MTRL. Code is available at https://github.com/Viraj-Joshi/MTBench
InterfO-RAN: Real-Time In-band Cellular Uplink Interference Detection with GPU-Accelerated dApps
Venue: arXiv cs.NI 2025
Year: 2025

Ultra-dense fifth generation (5G) and beyond networks leverage spectrum sharing and frequency reuse to enhance throughput, but face unpredictable in-band uplink (UL) interference challenges that significantly degrade Signal to Interference plus Noise Ratio (SINR) at affected Next Generation Node Bases (gNBs). This is particularly problematic at cell edges, where overlapping regions force User Equipments (UEs) to increase transmit power, and in directional millimeter wave systems, where beamforming sidelobes can create unexpected interference. The resulting signal degradation disrupts protocol operations, including scheduling and resource allocation, by distorting quality indicators like Reference Signal Received Power (RSRP) and Received Signal Strength Indicator (RSSI), and can compromise critical functions such as channel state reporting and Hybrid Automatic Repeat Request (HARQ) acknowledgments. To address this problem, this article introduces InterfO-RAN, a real-time programmable solution that leverages a Convolutional Neural Network (CNN) to process In-phase and Quadrature (I/Q) samples in the gNB physical layer, detecting in-band interference with accuracy exceeding 91% in under 650 us. InterfO-RAN represents the first O-RAN dApp accelerated on Graphics Processing Unit (GPU), coexisting with the 5G NR physical layer processing of NVIDIA Aerial. Deployed in an end-to-end private 5G network with commercial Radio Units (RUs) and smartphones, our solution was trained and tested on more than 7 million NR UL slots collected from real-world environments, demonstrating robust interference detection capabilities essential for maintaining network performance in dense deployments.
AutoBridge: Automating Smart Device Integration with Centralized Platform
Venue: arXiv cs.SE 2025
Year: 2025

Multimodal IoT systems coordinate diverse IoT devices to deliver human-centered services. The ability to incorporate new IoT devices under the management of a centralized platform is an essential requirement. However, it requires significant human expertise and effort to program the complex IoT integration code that enables the platform to understand and control the device functions. Therefore, we propose AutoBridge to automate IoT integration code generation. Specifically, AutoBridge adopts a divide-and-conquer strategy: it first generates device control logic by progressively retrieving device-specific knowledge, then synthesizes platformcompliant integration code using platform-specific knowledge. To ensure correctness, AutoBridge features a multi-stage debugging pipeline, including an automated debugger for virtual IoT device testing and an interactive hardware-in-the-loop debugger that requires only binary user feedback (yes and no) for real-device verification. We evaluate AutoBridge on a benchmark of 34 IoT devices across two open-source IoT platforms. The results demonstrate that AutoBridge can achieves an average success rate of 93.87% and an average function coverage of 94.87%, without any human involvement. With minimal binary yes and no feedback from users, the code is then revised to reach 100% function coverage. A user study with 15 participants further shows that AutoBridge outperforms expert programmers by 50% to 80% in code accuracy, even when the programmers are allowed to use commercial code LLMs.
Accessibility Scout: Personalized Accessibility Scans of Built Environments
Venue: arXiv cs.HC 2025
Year: 2025

Assessing the accessibility of unfamiliar built environments is critical for people with disabilities. However, manual assessments, performed by users or their personal health professionals, are laborious and unscalable, while automatic machine learning methods often neglect an individual user's unique needs. Recent advances in Large Language Models (LLMs) enable novel approaches to this problem, balancing personalization with scalability to enable more adaptive and context-aware assessments of accessibility. We present Accessibility Scout, an LLM-based accessibility scanning system that identifies accessibility concerns from photos of built environments. With use, Accessibility Scout becomes an increasingly capable "accessibility scout", tailoring accessibility scans to an individual's mobility level, preferences, and specific environmental interests through collaborative Human-AI assessments. We present findings from three studies: a formative study with six participants to inform the design of Accessibility Scout, a technical evaluation of 500 images of built environments, and a user study with 10 participants of varying mobility. Results from our technical evaluation and user study show that Accessibility Scout can generate personalized accessibility scans that extend beyond traditional ADA considerations. Finally, we conclude with a discussion on the implications of our work and future steps for building more scalable and personalized accessibility assessments of the physical world.
Solution-aware vs global ReLU selection: partial MILP strikes back for DNN verification
Venue: arXiv cs.AI 2025
Year: 2025

To handle complex instances, we revisit a divide-and-conquer approach to break down the complexity: instead of few complex BaB calls, we rely on many small {\em partial} MILP calls. The crucial step is to select very few but very important ReLUs to treat using (costly) binary variables. The previous attempts were suboptimal in that respect. To select these important ReLU variables, we propose a novel {\em solution-aware} ReLU scoring ({\sf SAS}), as well as adapt the BaB-SR and BaB-FSB branching functions as {\em global} ReLU scoring ({\sf GS}) functions. We compare them theoretically as well as experimentally, and {\sf SAS} is more efficient at selecting a set of variables to open using binary variables. Compared with previous attempts, SAS reduces the number of binary variables by around 6 times, while maintaining the same level of accuracy. Implemented in {\em Hybrid MILP}, calling first $α,β$-CROWN with a short time-out to solve easier instances, and then partial MILP, produces a very accurate yet efficient verifier, reducing by up to $40\%$ the number of undecided instances to low levels ($8-15\%$), while keeping a reasonable runtime ($46s-417s$ on average per instance), even for fairly large CNNs with 2 million parameters.
Failures Are the Stepping Stones to Success: Enhancing Few-Shot In-Context Learning by Leveraging Negative Samples
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models exhibit powerful few-shot in-context learning (ICL) capabilities, but the performance is highly sensitive to provided examples. Recent research has focused on retrieving corresponding examples for each input query, not only enhancing the efficiency and scalability of the learning process but also mitigating inherent biases in manual example selection. However, these studies have primarily emphasized leveraging Positive samples while overlooking the additional information within Negative samples for contextual learning. We propose a novel method that utilizes Negative samples to better select Positive sample examples, thereby enhancing the performance of few-shot ICL. Initially, we construct Positive and Negative sample corpora based on Zero-Shot-Cot. Then, during inference, we employ a semantic similarity-based approach to select the most similar examples from both the Positive and Negative corpora for a given query. Subsequently, we further retrieve Positive examples from the Positive sample corpus based on semantic similarity to the Negative examples, then concatenating them with the previously selected Positive examples to serve as ICL demonstrations. Experimental results demonstrate that our approach surpasses methods solely relying on the most similar positive examples for context, validating that the additional information in negative samples aids in enhancing ICL performance through improved Positive sample selection.
Efficient algorithm for linear diophantine equations in two variables
Venue: arXiv cs.DS 2025
Year: 2025

Solving linear diophantine equations in two variables have applications in computer science and mathematics. In this paper, we revisit an algorithm for solving linear diophantine equations in two variables, which we refer as DEA-R algorithm. The DEA-R algorithm always incurs equal or less number of recursions or recursive calls as compared to extended euclidean algorithm. With the objective of taking advantage of the less number of recursive calls , we propose an optimized version of the DEA-R algorithm as DEA-OPTD. In the recursive function calls in DEA-OPTD, we propose a sequence of more efficient computations. We do a theoretical comparison of the execution times of DEA-OPTD algorithm and DEA-R algorithm to find any possible bound on the value of $c$ for DEA-OPTD being better than DEA-R. We implement and compare an iterative version of DEA-OPTD (DEA-OPTDI) with two versions of a widely used algorithm on an specific input setting. In this comparison, we find out that our algorithm outperforms on the other algorithm against atleast 96% of the inputs.
A Deep Dive into Generic Object Tracking: A Survey
Venue: arXiv cs.CV 2025
Year: 2025

Generic object tracking remains an important yet challenging task in computer vision due to complex spatio-temporal dynamics, especially in the presence of occlusions, similar distractors, and appearance variations. Over the past two decades, a wide range of tracking paradigms, including Siamese-based trackers, discriminative trackers, and, more recently, prominent transformer-based approaches, have been introduced to address these challenges. While a few existing survey papers in this field have either concentrated on a single category or widely covered multiple ones to capture progress, our paper presents a comprehensive review of all three categories, with particular emphasis on the rapidly evolving transformer-based methods. We analyze the core design principles, innovations, and limitations of each approach through both qualitative and quantitative comparisons. Our study introduces a novel categorization and offers a unified visual and tabular comparison of representative methods. Additionally, we organize existing trackers from multiple perspectives and summarize the major evaluation benchmarks, highlighting the fast-paced advancements in transformer-based tracking driven by their robust spatio-temporal modeling capabilities.